Three-degree-of-freedom gripping device with manipulator

Abstract

The utility model discloses a three-degree-of-freedom gripping device with a manipulator, which is used for gripping and moving a sample frame and / or a kit, and comprises a support component, a moving component and a gripping component, the moving component comprises a first guide component, a second guide component and a third guide component, the first guide assembly fixedly connected to the supporting assembly can drive the first bearing seat to move in the first direction, then the second guide assembly connected to the first bearing seat is driven to move in the first direction, the second guide assembly can drive the moving block to move in the second direction, and then the moving block can move in the first direction and / or the second direction. The third guide assembly capable of driving the grabbing assembly to move in the third direction is connected to the moving block, and therefore the grabbing assembly can move in the three directions, the grabbing assembly can grab and move sample frames and / or kits at different positions and at different heights, and the problems that a grabbing mechanism is poor in universality and short in grabbing stroke can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a three-degree-of-freedom grasping device with a manipulator. Background Art

[0002] Biochemical analyzers and immunoassay analyzers are the two most common analytical instruments in the field of in vitro diagnosis. Their main function is to use their own automated components to perform a series of actions such as extraction, injection, and extraction of samples and reagents, and to detect the reactants of samples and reagents through special detection devices, and finally obtain the test results through computer analysis. When the instrument starts to perform detection and analysis, a dedicated automated mechanism is first required to grab the sample rack / test kit and transport it to the corresponding extraction station or storage station for the next step.

[0003] At present, the commonly used sample rack / test kit grabbing mechanism adopts a single degree of freedom or multi-degree of freedom motion form to complete the placement of the test kit / sample rack. The existing technology only completes the grabbing and transportation action for the sample rack or the test kit, which is not universal. In addition, the existing technology is mostly for grabbing and transportation work on a plane, and the grabbing stroke is not long, which is not suitable for occasions where transportation between multiple layers is required.

[0004] Therefore, how to solve the problem of poor versatility of the grabbing mechanism and short grabbing stroke is a technical problem that technical personnel in this field currently need to solve. Utility Model Content

[0005] The utility model aims to provide a three-degree-of-freedom grasping device with a manipulator, which can solve the problems of poor universality of the grasping mechanism and short grasping stroke.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A three-degree-of-freedom grasping device with a manipulator, used for grasping and moving a sample rack and / or a reagent box, comprises a supporting component, a moving component and a grasping component, wherein the moving component comprises:

[0008] A first guide assembly is fixedly connected to the support assembly and is provided with a first bearing seat capable of moving along a first direction;

[0009] A second guide assembly is connected to the first bearing seat and is provided with a moving block capable of moving along a second direction;

[0010] A third guide assembly is connected to the moving block and is provided with a linear guide rail group capable of moving along a third direction. The linear guide rail group is fixedly connected to the grabbing assembly through a clamping claw connecting plate. The grabbing assembly can grab and move the sample rack and / or the reagent box;

[0011] The first direction, the second direction and the third direction are perpendicular to each other.

[0012] Preferably, there are two groups of support assemblies and each includes a support plate, a first optical axis, a connecting plate and a first mounting seat. The support plate and the first mounting seat are respectively connected to the connecting plate. Two first optical axes extending along the first direction are fixedly connected to the connecting plate and are located between the two connecting plates.

[0013] Preferably, the first guide assembly also includes a motor, a transmission assembly and a fixed assembly, the motor being used to drive the fixed assembly fixed to the transmission assembly to move, so that the first bearing seat fixedly connected to the fixed assembly moves along the extension direction of the first optical axis, and the two first bearing seats are fixedly connected by two second optical axes extending along the second direction.

[0014] Preferably, the transmission assembly includes a driving wheel, a synchronous belt and a driven wheel, the motor and the driven wheel are respectively connected to two support plates, the driving wheel is connected to the output end of the motor and is arranged corresponding to the driven wheel, and the synchronous belt is connected to the driving wheel and the driven wheel to drive the fixed assembly to move.

[0015] Preferably, the movable block is movably mounted on the second optical axis and fixedly connected to the first mounting plate. The second guide assembly also includes a screw motor and a movable screw. The movable screw passes through the first bearing seat and the first mounting plate. The screw motor can drive the movable screw to rotate so that the movable block moves along the extension direction of the second optical axis.

[0016] Preferably, the third guide assembly also includes a drive motor, a first gear and a first rack. The drive motor is fixed to the first mounting plate, the first gear meshing with the first rack is connected to the drive motor, and the first rack is fixedly connected to the linear guide group. The drive motor can drive the first gear to rotate so that the linear guide group moves along the third direction.

[0017] Preferably, the gripping assembly includes an upper mounting plate, a lower mounting plate, a clamping motor and a clamping member. The upper mounting plate is connected to the clamping connecting plate via a connecting member. The upper mounting plate and the lower mounting plate are connected via a connecting shaft. The clamping member is located on both sides of the lower mounting plate. The clamping motor is arranged on the upper end surface of the upper mounting plate to drive the clamping members to move closer to or away from each other.

[0018] Preferably, the clamping jaw is connected to a second rack via a second mounting seat, guide rail members for cooperating with the second mounting seat are provided at both ends of the lower mounting plate, and the guide rail members are located between the upper mounting plate and the lower mounting plate, and the clamping jaw motor is provided with a second gear that can drive the second rack to move, so that the clamping jaw can grab or put down the sample rack and / or reagent box.

[0019] Preferably, the fixing assembly includes a pressure plate and a fixing block, the fixing block is connected to the first bearing seat, and the pressure plate is used to limit the relative movement of the synchronous belt and the fixing block.

[0020] Preferably, bearings are provided inside the first mounting seat and the moving block.

[0021] Compared with the above-mentioned background technology, the three-degree-of-freedom grasping device with a manipulator provided by the utility model is used to grasp and move the sample rack and / or the reagent box, and includes a supporting component, a moving component and a grasping component. The moving component includes a first guide component, a second guide component and a third guide component. The first guide component is fixedly connected to the supporting component and is provided with a first bearing seat that can move along a first direction; the second guide component is connected to the first bearing seat and is provided with a moving block that can move along a second direction; the third guide component is connected to the moving block and is provided with a linear guide group that can move along a third direction. The linear guide group is fixedly connected to the grasping component through a clamping claw connecting plate, and the grasping component can grasp and move the sample rack and / or the reagent box; the first direction, the second direction and the third direction are perpendicular to each other.

[0022] Specifically, the first guide assembly fixedly connected to the supporting assembly can drive the first bearing seat to move in the first direction, and then drive the second guide assembly connected to the first bearing seat to move in the first direction. The second guide assembly can drive the moving block to move in the second direction, and then the moving block can move in the first direction and / or the second direction. The third guide assembly that can drive the grasping assembly to move in the third direction is connected to the moving block, and then the grasping assembly can move in the first direction, the second direction and the third direction, so that the grasping assembly can grasp and move sample racks and / or reagent kits at different positions and different heights, thereby solving the problems of poor versatility and short grasping stroke of the grasping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the structure of a three-degree-of-freedom grasping device with a manipulator provided in an embodiment of the utility model;

[0025] Figure 2 A schematic structural diagram of a three-degree-of-freedom grasping device with a manipulator provided by an embodiment of the utility model from another perspective;

[0026] Figure 3 for Figure 2 A partial enlarged view of .

[0027] in:

[0028] 11-support plate, 12-first optical axis, 13-connecting plate, 14-first mounting seat;

[0029] 21-first bearing seat, 22-motor, 23-driving wheel, 24-synchronous belt, 25-driven wheel;

[0030] 31-moving block, 32-second optical axis, 33-first mounting plate, 34-screw motor, 35-moving screw, 36-pressing plate, 37-fixing block, 38-bearing;

[0031] 41-linear guide rail assembly, 42-gripping connecting plate, 43-driving motor, 44-first gear, 45-first rack;

[0032] 51 -upper mounting plate, 52 -lower mounting plate, 53 -gripper motor, 54 -gripper member, 55 -connecting member, 56 -connecting shaft, 57 -second mounting seat, 58 -second rack, 59 -guide rail member, 60 -second gear. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "inside" and "outside" indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the position or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as a limitation of the present invention.

[0036] The utility model aims to provide a three-degree-of-freedom grasping device with a manipulator, which can solve the problems of poor universality of the grasping mechanism and short grasping stroke.

[0037] It should be noted that, in this embodiment, the X direction in the accompanying drawings is defined as the first direction, the Y direction is defined as the second direction, and the Z direction is defined as the third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0038] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0039] See also Figure 1 This embodiment provides a three-degree-of-freedom grasping device with a manipulator for grasping and moving a sample rack and / or a reagent box, including a supporting component, a moving component and a grasping component, and the moving component includes a first guide component, a second guide component and a third guide component.

[0040] The first guide assembly is fixedly connected to the support assembly and is provided with a first bearing seat 21 which can move along a first direction.

[0041] The second guide assembly is connected to the first bearing seat 21 and is provided with a moving block 31 that can move along the second direction.

[0042] The third guide assembly is connected to the moving block 31 and is provided with a linear guide rail group 41 that can move along the third direction. The linear guide rail group 41 is fixedly connected to the grasping assembly through a clamping claw connecting plate 42. The grasping assembly can grasp and move the sample rack and / or reagent box.

[0043] It can be understood that the first guide assembly fixedly connected to the supporting assembly can drive the first bearing seat 21 to move along the first direction, and then drive the second guide assembly connected to the first bearing seat 21 to move along the first direction, the second guide assembly can drive the moving block 31 to move along the second direction, and then the moving block 31 can move along the first direction and / or the second direction, and the third guide assembly that can drive the grasping assembly to move along the third direction is connected to the moving block 31, and then the grasping assembly can move along the first direction, the second direction and the third direction, so that the grasping assembly can grasp and move sample racks and / or reagent kits at different positions and different heights, thereby solving the problems of poor versatility and short grasping stroke of the grasping mechanism.

[0044] Preferably, there are two groups of support assemblies and both include a support plate 11, a first optical axis 12, a connecting plate 13 and a first mounting seat 14. The support plate 11 and the first mounting seat 14 are respectively connected to the connecting plate 13. Two first optical axes 12 extending along the first direction are fixedly connected to the connecting plate 13 and are located between the two connecting plates 13.

[0045] In this embodiment, the support plate 11 plays a supporting role, the first mounting seat 14 is located on the inner side of the connecting plate 13, the first mounting seats 14 on the two connecting plates 13 are correspondingly arranged, and the first optical axis 12 passes through the connecting plate 13 fixedly connected to the support plate 11.

[0046] It should be noted that the specific position of the connecting plate 13 can be adjusted according to actual conditions as long as the above purpose can be achieved.

[0047] See also Figure 2Preferably, the first guide assembly also includes a motor 22, a transmission assembly and a fixed assembly, the motor 22 is used to drive the fixed assembly fixed to the transmission assembly to move, so that the first bearing seat 21 fixedly connected to the fixed assembly moves along the extension direction of the first optical axis 12, and the two first bearing seats 21 are fixedly connected by two second optical axes 32 extending along the second direction.

[0048] It can be understood that the movement of the first bearing seat 21 is achieved through a fixed component fixedly connected thereto, and when the motor 22 drives the fixed component fixed to the transmission component to move, the first bearing seat 21 moves accordingly.

[0049] In this embodiment, the first bearing seat 21 is sleeved on the outer periphery of the first optical axis 12, and two second optical axes 32 with parallel axes are passed between the two first bearing seats 21 so that the two first bearing seats 21 can run synchronously. The fixing component can be connected to one first bearing seat 21.

[0050] Preferably, the transmission assembly includes a driving wheel 23, a synchronous belt 24 and a driven wheel 25, the motor 22 and the driven wheel 25 are respectively connected to the two support plates 11, the driving wheel 23 is connected to the output end of the motor 22 and is arranged corresponding to the driven wheel 25, and the synchronous belt 24 is connected to the driving wheel 23 and the driven wheel 25 to drive the fixed assembly to move.

[0051] Among them, the transmission assembly includes a driving wheel 23, a synchronous belt 24 and a driven wheel 25. The driving wheel 23 and the driven wheel 25 whose axes are parallel to each other are respectively arranged at both ends of the synchronous belt 24. The driving wheel 23 is driven by the motor 22, so that the synchronous belt 24 and the driven wheel 25 rotate accordingly, so that the fixed assembly drives the first bearing seat 21 to move.

[0052] It should be noted that the motor 22 can rotate forward and reverse, and the type of the motor 22 can be adjusted according to actual conditions as long as it can achieve the above purpose.

[0053] Preferably, the moving block 31 is movably mounted on the second optical axis 32 and fixedly connected to the first mounting plate 33. The second guide assembly also includes a screw motor 34 and a moving screw 35. The moving screw 35 is passed through the first bearing seat 21 and the first mounting plate 33. The screw motor 34 can drive the moving screw 35 to rotate so that the moving block 31 moves along the extension direction of the second optical axis 32.

[0054] In this embodiment, a movable moving block 31 is sleeved on the second optical axis 32 between the two first bearing seats 21, and the moving block 31 is fixedly connected to the first mounting plate 33. The second guide assembly also includes a screw motor 34 and a moving screw 35. The screw motor 34 is arranged on the first bearing seat 21, and the output end of the screw motor 34 can drive the moving screw 35 to rotate. The moving screw 35 is penetrated by the first bearing seat 21 and the first mounting plate 33, wherein a moving nut cooperating with the moving screw 35 is provided at a corresponding position of the first mounting plate 33. When the moving screw 35 rotates, the first mounting plate 33 provided with the moving nut is driven to move along the second direction.

[0055] Preferably, the third guide assembly also includes a drive motor 43, a first gear 44 and a first rack 45. The drive motor 43 is fixed to the first mounting plate 33, the first gear 44 meshing with the first rack 45 is connected to the drive motor 43, and the first rack 45 is fixedly connected to the linear guide group 41. The drive motor 43 can drive the first gear 44 to rotate so that the linear guide group 41 moves along the third direction.

[0056] It can be understood that the third guide assembly also includes a drive motor 43, a first gear 44 and a first rack 45. The drive motor 43 is fixedly arranged on the first mounting plate 33. The drive motor 43 can drive the first gear 44 to rotate, so that the first rack 45 meshing with the first gear 44 moves along the third direction.

[0057] The first rack 45 is fixedly connected to the linear guide rail assembly 41 , and the movement of the first rack 45 drives the grabbing assembly fixedly connected to the linear guide rail assembly 41 through the clamping claw connecting plate 42 to move up and down.

[0058] See also Figure 3 Preferably, the grabbing assembly includes an upper mounting plate 51, a lower mounting plate 52, a clamping motor 53 and a clamping member 54. The upper mounting plate 51 is connected to the clamping connecting plate 42 via a connecting member 55. The upper mounting plate 51 and the lower mounting plate 52 are connected via a connecting shaft 56. The clamping member 54 is located on both sides of the lower mounting plate 52. The clamping motor 53 is arranged on the upper end surface of the upper mounting plate 51, and is used to drive the clamping members 54 to move closer to or away from each other.

[0059] In this embodiment, the grabbing assembly includes an upper mounting plate 51 and a lower mounting plate 52 that are arranged in parallel and at intervals. The upper mounting plate 51 and the lower mounting plate 52 are connected by a connecting shaft 56 and have a certain accommodating space. The clamping motor 53 is preferably arranged on the upper end surface of the upper mounting plate 51 to drive the clamping jaws 54 to move closer to or away from each other.

[0060] Preferably, the clamping jaw 54 is connected to the second rack 58 via the second mounting seat 57, and guide rail members 59 for cooperating with the second mounting seat 57 are provided at both ends of the lower mounting plate 52, and the guide rail members 59 are located between the upper mounting plate 51 and the lower mounting plate 52, and the clamping jaw motor 53 is provided with a second gear 60 that can drive the second rack 58 to move, so that the clamping jaw 54 grabs or puts down the sample rack and / or the reagent box.

[0061] Furthermore, a guide rail member 59 is provided between the upper mounting plate 51 and the lower mounting plate 52, and the clamping jaw member 54 is connected to the second rack 58 through the second mounting seat 57. The clamping jaw motor 53 drives the second gear 60 to rotate, so that the second racks 58 located on both sides of the second gear 60 move, so that the second mounting seat 57 moves along the guide rail member 59, expanding or reducing the distance between the two clamping jaw members 54, so that the clamping jaw member 54 grabs or puts down the sample rack and / or the reagent kit.

[0062] Preferably, the fixing assembly includes a pressure plate 36 and a fixing block 37 . The fixing block 37 is connected to the first bearing seat 21 . The pressure plate 36 is used to limit the relative movement of the synchronous belt 24 and the fixing block 37 .

[0063] In this embodiment, the fixing assembly includes a pressure plate 36 and a fixing block 37 , which are respectively located on both sides of the synchronous belt 24 . The fixing block 37 moves with the synchronous belt 24 through the tight connection between the pressure plate 36 and the fixing block 37 .

[0064] It should be noted that the pressing plate 36 and the fixing block 37 can be fixed by bolts, and the type and quantity of the bolts can be adjusted according to actual conditions as long as the above purpose can be achieved.

[0065] Preferably, bearings 38 are provided inside the first mounting seat 14 and the moving block 31 .

[0066] It can be understood that the first mounting seat 14 and the moving block 31 are both provided with bearings 38 , and the bearings 38 can reduce the wear of the first optical axis 12 and the second optical axis 32 , and ensure that the clamping and moving processes proceed smoothly.

[0067] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0068] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0069] The above is a detailed introduction to the embodiments provided by the utility model. This article uses specific examples to illustrate the principles and implementation methods of the utility model. The description of the above embodiments is only used to help understand the method and core ideas of the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A three-degree-of-freedom grasping device with a manipulator, used to grasp and move a sample rack and / or a reagent kit, characterized in that: It includes a supporting component, a moving component and a grabbing component, wherein the moving component includes: A first guide assembly, fixedly connected to the support assembly and provided with a first bearing seat (21) capable of moving along a first direction; A second guide assembly, connected to the first bearing seat (21), and provided with a moving block (31) capable of moving along a second direction; A third guide assembly, connected to the moving block (31), and provided with a linear guide rail group (41) capable of moving along a third direction, wherein the linear guide rail group (41) is fixedly connected to the gripping assembly via a clamping claw connecting plate (42) (13), and the gripping assembly is capable of gripping and moving the sample rack and / or the reagent box; The first direction, the second direction and the third direction are perpendicular to each other.

2. The three-degree-of-freedom grasping device with a manipulator according to claim 1, characterized in that: The support assembly has two groups and both groups include a support plate (11), a first optical axis (12), a connecting plate (13) and a first mounting seat (14); the support plate (11) and the first mounting seat (14) are respectively connected to the connecting plate (13); two first optical axes (12) extending along the first direction are fixedly connected to the connecting plate (13) and are located between the two connecting plates (13).

3. The three-degree-of-freedom grasping device with a manipulator according to claim 2, characterized in that: The first guide assembly further comprises a motor (22), a transmission assembly and a fixing assembly, wherein the motor (22) is used to drive the fixing assembly fixed to the transmission assembly to move, so that the first bearing seat (21) fixedly connected to the fixing assembly moves along the extension direction of the first optical axis (12), and the two first bearing seats (21) are fixedly connected via two second optical axes (32) extending along the second direction.

4. The three-degree-of-freedom grasping device with a manipulator according to claim 3, characterized in that: The transmission assembly comprises a driving wheel (23), a synchronous belt (24) and a driven wheel (25); the motor (22) and the driven wheel (25) are respectively connected to the two support plates (11); the driving wheel (23) is connected to the output end of the motor (22) and is arranged corresponding to the driven wheel (25); the synchronous belt (24) is connected to the driving wheel (23) and the driven wheel (25) to drive the fixed assembly to move.

5. The three-degree-of-freedom grasping device with a manipulator according to claim 3, characterized in that: The moving block (31) is movably mounted on the second optical axis (32) and is fixedly connected to a first mounting plate (33). The second guide assembly also includes a lead screw motor (34) and a moving screw (35). The moving screw (35) is inserted through the first bearing seat (21) and the first mounting plate (33). The lead screw motor (34) can drive the moving screw (35) to rotate so that the moving block (31) moves along the extension direction of the second optical axis (32).

6. The three-degree-of-freedom grasping device with a manipulator according to claim 5, characterized in that: The third guide assembly also includes a driving motor (43), a first gear (44) and a first rack (45); the driving motor (43) is fixed to the first mounting plate (33); the first gear (44) meshing with the first rack (45) is connected to the driving motor (43); the first rack (45) is fixedly connected to the linear guide rail group (41); the driving motor (43) can drive the first gear (44) to rotate so that the linear guide rail group (41) moves along the third direction.

7. The three-degree-of-freedom grasping device with a manipulator according to claim 1, characterized in that: The gripping assembly comprises an upper mounting plate (51), a lower mounting plate (52), a clamping jaw motor (53) and a clamping jaw member (54); the upper mounting plate (51) is connected to the clamping jaw connecting plate (42) via a connecting member (55); the upper mounting plate (51) and the lower mounting plate (52) are connected via a connecting shaft (56); the clamping jaw member (54) is located on both sides of the lower mounting plate (52); the clamping jaw motor (53) is arranged on the upper end surface of the upper mounting plate (51) and is used to drive the clamping jaw members (54) to move closer to or farther away from each other.

8. The three-degree-of-freedom grasping device with a manipulator according to claim 7, characterized in that: The clamping jaw member (54) is connected to a second rack (58) via a second mounting seat (57); guide rail members (59) for cooperating with the second mounting seat (57) are provided at both ends of the lower mounting plate (52); and the guide rail members (59) are located between the upper mounting plate (51) and the lower mounting plate (52); the clamping jaw motor (53) is provided with a second gear (60) capable of driving the second rack (58) to move, so that the clamping jaw member (54) can grab or put down the sample rack and / or reagent box.

9. The three-degree-of-freedom grasping device with a manipulator according to claim 4, characterized in that: The fixing assembly comprises a pressure plate (36) and a fixing block (37), wherein the fixing block (37) is connected to the first bearing seat (21), and the pressure plate (36) is used to limit the relative movement between the synchronous belt (24) and the fixing block (37).

10. The three-degree-of-freedom grasping device with a manipulator according to claim 2, characterized in that: Bearings (38) are provided inside the first mounting seat (14) and the moving block (31).

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